CN103318051B - Failure control method for electric drive system of four-wheel drive electric vehicle - Google Patents
Failure control method for electric drive system of four-wheel drive electric vehicle Download PDFInfo
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- CN103318051B CN103318051B CN201310241894.9A CN201310241894A CN103318051B CN 103318051 B CN103318051 B CN 103318051B CN 201310241894 A CN201310241894 A CN 201310241894A CN 103318051 B CN103318051 B CN 103318051B
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Abstract
The invention provides a failure control method for an electric drive system of a four-wheel drive electric vehicle. According to the method, firstly, failure types are judged and failure control strategies are selected according to failure of the electric drive system, and the failure is controlled by the aid of different failure control strategies, so that a driver can reliably and safely operate the four-wheel drive electric vehicle. The control target of a vehicle speed keeping failure control strategy includes that the drive torque of a target wheel is enlarged according to the failure, total drive force is maintained, so that the vehicle speed can be kept, the drive performance of the four-wheel drive electric vehicle is kept under the condition of failure, difference between an actual vehicle parameter and an ideal value is decreased by distributing longitudinal force on the target wheel, and stability of a vehicle body is improved. The control target of a speed reducing stop failure control strategy includes that tracks are kept and the vehicle rapidly stops, the running track of the four-wheel drive electric vehicle is consistent with the track of the vehicle without the failure as far as possible, potential safety hazards caused by rapid change of the track of the vehicle can be avoided, and the driving expectancy of the driver is met.
Description
Technical field
The invention belongs to electric vehicle motor control technology field, more specifically say, relate to a kind of how control when four-wheel driven electric vehicle power drive system lost efficacy, to realize the control method that battery-driven car keeps speed of a motor vehicle traveling or ramp to stop safely and reliably.
Background technology
In order to tackle the problem that energy shortage, environmental pollution etc. become increasingly conspicuous, battery-driven car has become the focus of research at present with its anti-emission carburetor, low noise and other advantages.
At present, four wheel drive wheel hub automobile and four-wheel driven electric vehicle are one of Main way of Future Development.Drive compared with battery-driven car with current market uses two, because four-wheel driven electric vehicle has four drive motor, therefore can run on more severe road conditions environment, and larger propulsive effort can be provided.Simultaneously, also propose higher control overflow to the control of four-wheel driven electric vehicle four wheels: the control for four-wheel driven electric vehicle has not only needed common electric car to the requirement of rotational speed and torque control accuracy, also the reliability that will realize for increased power drive system ensures.
Because four-wheel driven electric vehicle exists four power drive systems simultaneously, the probability that four-wheel driven electric vehicle entirety breaks down is increased, meanwhile, when wherein some breaks down four power drive systems, battery-driven car will be caused to occur potential safety hazard, even affect chaufeur life security, therefore need a kind of Failure Control method, when ensureing that four-wheel driven electric vehicle power drive system lost efficacy, normally can carry out ramp to stop operation or keep the speed of a motor vehicle to travel.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of failure control method for electric drive system of four-wheel drive electric vehicle is provided, to realize the control occurring the four-wheel driven electric vehicle that power drive system lost efficacy, ensure that four-wheel driven electric vehicle normally carries out ramp to stop operation or keeps the speed of a motor vehicle to travel, improve the safety of four-wheel driven electric vehicle.
For realizing above object, failure control method for electric drive system of four-wheel drive electric vehicle of the present invention, is characterized in that, comprises the following steps:
(1), failure type judges and Failure Control policy selection
Wheel hub motor information according to feedback determines failure conditions:
1.1), single motor failure
When the near front wheel motor failure or off front wheel motor failure, after using, two turbin generators are as drive motor, thus are rear-guard pattern by 4 wheel driven patten transformation;
When left rear wheel motor failure or off hind wheel motor failure, use front two turbin generators as drive motor, thus be forerunner's pattern by 4 wheel driven patten transformation;
Forerunner's pattern or rear-guard pattern all adopt speed of a motor vehicle maintenance Failure Control strategy to control target wheel i.e. rear two-wheeled or front two-wheeled;
1.2), double-motor lost efficacy
In front two-wheeled motor failure situation, be converted to rear-guard pattern; In rear two-wheeled motor failure situation, vehicle can be converted to forerunner's pattern, all adopts speed of a motor vehicle maintenance Failure Control strategy to control target wheel i.e. rear two-wheeled or front two-wheeled;
Under left side two turbin generators or right side inefficacy two-wheeled motor conditions, ramp to stop type Failure Control strategy is adopted to control;
In the near front wheel off hind wheel motor failure or off front wheel left rear wheel motor failure situation, speed of a motor vehicle maintenance Failure Control strategy is adopted to control target wheel and off front wheel left rear wheel or the near front wheel off hind wheel;
1.3), three motor failure
In three-wheel motor failure situation, ramp to stop type Failure Control strategy is adopted to control;
(2), speed of a motor vehicle maintenance Failure Control strategy
First the inefficacy moment determines total drive torque, and redistributes on target wheel, obtains the drive torque of each target wheel, by increasing the drive torque of target wheel, to maintain original total propulsive effort; Two degrees of freedom reference model is according to current steering wheel angle δ and speed of a motor vehicle v simultaneously
xcalculate current desirable yaw velocity γ
*, obtaining yaw velocity deviation delta gamma by subtracting each other with the yaw velocity γ of the current reality of four-wheel driven electric vehicle, by yaw velocity deviation delta gamma input fuzzy controller, obtaining additional yaw moment M; According to the size of additional yaw moment M value, calculate the size of the required additional drives moment of distributing of each target wheel drive motors, then with redistribute the drive torque obtained separately and be added command torque as finally exporting to each wheel electrical machine, export corresponding propulsive effort, to realize ideal, yaw velocity is followed the tracks of;
(3), ramp to stop type Failure Control strategy
Gather steering wheel angle, if zero, then take simple control policy, all wheels are set to flower wheel, four wheel motor torque are all set to zero; If non-vanishing, then take rule-based propulsive effort control policy, have for:
3.1), right two-wheeled master mode: in left-hand rotation operating mode left two-wheeled motor failure situation, reduce the drive torque of right two-wheeled with certain slope, increase braking force moment after reducing to zero, until right two-wheeled motor braking force square maxim, then remain unchanged; In right-hand rotation operating mode left two-wheeled motor failure situation, reduce the drive torque of right two-wheeled with certain slope, until be reduced to zero, then remain unchanged;
3.2), left two-wheeled master mode: in left-hand rotation operating mode right two-wheeled motor failure situation, reduce the drive torque of left two-wheeled with certain slope, until be reduced to zero, then remain unchanged; In right-hand rotation operating mode right two-wheeled motor failure situation, reduce the drive torque of left two-wheeled with certain slope, increase braking force moment after reducing to zero, until left two-wheeled motor braking force square maxim, then remain unchanged;
3.3), off hind wheel master mode: before left-hand rotation operating mode in two-wheeled and left rear wheel motor failure situation, off hind wheel drive torque is reduced with certain slope, increase braking force moment after reducing to zero, until left two-wheeled motor braking force square maxim, then remain unchanged; Before right-hand rotation operating mode in two-wheeled and left rear wheel motor failure situation, reduce off hind wheel drive torque with certain slope, until be reduced to zero, then remain unchanged;
3.4), left rear wheel master mode: before left-hand rotation operating mode in two-wheeled and off hind wheel motor failure situation, reduce left rear wheel drive torque with certain slope, until reduce to zero, then remain unchanged; Before right-hand rotation operating mode in two-wheeled and off hind wheel motor failure situation, reduce left rear wheel drive torque with certain slope, increase braking force moment after reducing to zero, until right two-wheeled motor braking force square maxim, then remain unchanged;
3.5), off front wheel master mode: after left-hand rotation operating mode in two-wheeled and the near front wheel motor failure situation, off front wheel drive torque is reduced with certain slope, increase braking force moment after reducing to zero, until off front wheel motor braking force square maxim, then remain unchanged; Two-wheeled and the near front wheel motor failure after right-hand rotation operating mode, reduce off front wheel drive torque with certain slope, until reduce to zero, then remain unchanged;
3.6), the near front wheel master mode: after left-hand rotation operating mode in two-wheeled and off front wheel motor failure situation, reduce the near front wheel drive torque with certain slope, reduce the near front wheel drive torque with certain slope, until reduce to zero, then remain unchanged; After right-hand rotation operating mode in two-wheeled and off front wheel motor failure situation, reduce the near front wheel drive torque with certain slope, increase braking force moment after reducing to zero, until the near front wheel motor braking force square maxim, then remain unchanged.
The object of the present invention is achieved like this:
Failure control method for electric drive system of four-wheel drive electric vehicle of the present invention, first in operational process, occur that power drive system failure conditions carries out failure type judgement and Failure Control policy selection for four-wheel driven electric vehicle, adopt different Failure Control strategies and speed of a motor vehicle maintenance Failure Control strategy or ramp to stop type Failure Control strategy to control, thus ensure that chaufeur operates four-wheel driven electric vehicle reliable and securely.Wherein, the control objectives of speed of a motor vehicle maintenance Failure Control strategy is: according to failure conditions, increase the drive torque of target wheel, maintaining total propulsive effort size enables the speed of a motor vehicle keep, keep four-wheel driven electric vehicle driven nature in the event of failure, by distributing the longitudinal force on target wheel, reducing the difference between actual vehicle parameter and ideal value, improving vehicle body stability; Ramp to stop type Failure Control strategy keeps with track and stops as control objectives rapidly, make the driving trace of four-wheel driven electric vehicle as far as possible consistent with the track of vehicle under non-failure conditions, track of vehicle so not only can be avoided sharply to change the potential safety hazard caused, and the driving meeting chaufeur is expected.
Accompanying drawing explanation
Fig. 1 is the functional block diagram of failure control method for electric drive system of four-wheel drive electric vehicle of the present invention;
Fig. 2 is the maintenance of the speed of a motor vehicle shown in Fig. 1 Failure Control policy construction block diagram;
Fig. 3 is the diagram of circuit of the maintenance of the speed of a motor vehicle shown in Fig. 1 Failure Control;
Fig. 4 is the type of ramp to stop shown in Fig. 1 Failure Control diagram of circuit;
Vehicle driving trace comparison diagram when Fig. 5 is the near front wheel motor failure;
Four wheel drive torque diagram of curves when Fig. 6 is the near front wheel motor failure;
Vehicle driving trace comparison diagram when Fig. 7 is left rear wheel off hind wheel motor failure;
Four wheel drive torque diagram of curves when Fig. 8 is left rear wheel off hind wheel motor failure;
Vehicle driving trace comparison diagram when Fig. 9 is two-wheeled motor failure after off front wheel;
Four wheel drive torque diagram of curves when Figure 10 is two-wheeled motor failure after off front wheel.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described, so that those skilled in the art understands the present invention better.Requiring particular attention is that, in the following description, when perhaps the detailed description of known function and design can desalinate main contents of the present invention, these are described in and will be left in the basket here.
Fig. 1 is the functional block diagram of failure control method for electric drive system of four-wheel drive electric vehicle of the present invention.
In the present embodiment, as shown in Figure 1, failure control method for electric drive system of four-wheel drive electric vehicle of the present invention comprises three parts: failure type judges and Failure Control policy selection 1, speed of a motor vehicle maintenance control policy 2, ramp to stop type control policy 3.
1, failure type judges and Failure Control policy selection
Failure type judges to be used for electric drive system failure conditions, selects Failure Control strategy and speed of a motor vehicle maintenance control policy or ramp to stop type control policy.First failure conditions is determined according to the wheel hub motor information of feedback:
(1), single motor failure: the near front wheel motor failure, off front wheel motor failure, left rear wheel motor failure, off hind wheel motor failure;
In single motor failure situation, remain three motor driven systems and can continue to run.Obviously front two turbin generators can be used as drive motor, thus be forerunner's pattern by 4 wheel driven patten transformation, or use rear two turbin generators as drive motor, thus be rear-guard pattern by 4 wheel driven patten transformation, thus keep the speed of a motor vehicle, make vehicle continue normal traveling.Therefore, four kinds of situations of single motor failure all adopt speed of a motor vehicle maintenance Failure Control strategy to control target wheel i.e. rear two-wheeled or front two-wheeled.
(2), double-motor lost efficacy and can be divided into two classes again:
Homonymy double-motor lost efficacy: front two-wheeled motor failure, rear two-wheeled motor failure, the near front wheel left rear wheel motor failure, off front wheel off hind wheel motor failure;
In homonymy double-motor failure type, in front two-wheeled motor failure situation, vehicle can be converted to rear-guard pattern; In rear two-wheeled motor failure situation, vehicle can be converted to forerunner's pattern.But, in the two-wheeled motor failure situation of left side, if use right side wheels motor to provide propulsive effort, will cause vehicle body left and right sides to be subject to force unbalance, thus cause vehicle body unstability, therefore should ramp to stop rapidly in this situation; In like manner, in the two-wheeled motor failure situation of right side, if use left side wheel motor to provide propulsive effort, vehicle body left and right sides will be caused by force unbalance, thus cause vehicle body unstability, therefore also should slow down rapidly in this situation and stop, namely ramp to stop type Failure Control strategy controls.
Offside double-motor lost efficacy: the near front wheel off hind wheel motor failure, off front wheel left rear wheel motor failure;
In offside double-motor failure type, in the near front wheel off hind wheel motor failure situation, if provide driving with off front wheel motor and left rear wheel motor, can carry out regulating thus maintaining car body balance because vehicle body left and right sides is stressed, therefore be divided into speed of a motor vehicle maintenance Failure Control strategy; In like manner, in off front wheel left rear wheel motor failure situation, if provide driving with the near front wheel motor and off hind wheel motor, can carry out regulating thus maintaining car body balance because vehicle body left and right sides is stressed, therefore be divided into speed of a motor vehicle maintenance Failure Control strategy.
(3) three-wheel motor failure can be divided into two classes again:
Three-wheel motor failure: two-wheeled motor failure after two-wheeled motor failure, off front wheel after front two-wheeled left rear wheel motor failure, front two-wheeled off hind wheel motor failure, the near front wheel;
In three-wheel motor failure, in front two-wheeled left rear wheel motor failure situation, if use off hind wheel motor to provide propulsive effort, will cause vehicle body left and right sides to be subject to force unbalance, thus cause vehicle body unstability, therefore should ramp to stop rapidly in this situation; In like manner, in other three kinds of three-wheel motor failure situations, remaining single wheel electrical machine is driven, vehicle body left and right sides will be caused by force unbalance, thus cause vehicle body unstability, and therefore also should ramp to stop rapidly under these three kinds of failure conditions, namely adopt ramp to stop type Failure Control strategy to control.
2, speed of a motor vehicle maintenance Failure Control strategy
For keeping the driven nature of four-wheel driven electric vehicle under power drive system failure conditions and vehicle body stability, the control objectives of speed of a motor vehicle maintenance Failure Control strategy is:
(1), according to the failure conditions of four-wheel driven electric vehicle, increase the drive torque of target wheel, maintain total propulsive effort size and the speed of a motor vehicle is kept, keep four-wheel driven electric vehicle driven nature in the event of failure.
(2), according to motoring condition and the current steering wheel angle δ and speed of a motor vehicle v of four-wheel driven electric vehicle
x, judge that vehicle travels and whether stablize, by distributing the longitudinal force on target wheel, reducing the difference between actual vehicle parameter and ideal value, improving vehicle stability.
In four-wheel driven electric vehicle driving process, when the power drive system that speed of a motor vehicle maintenance occurs lost efficacy, there is certain deviation by causing the state of kinematic motion of vehicle-state and expectation.In order to improve the road-holding property of vehicle, the state of kinematic motion be generally defined as by control objectives when vehicle is travelled follows the tracks of the perfect condition of predefined.In the present invention, take yaw velocity as control variable, stability control is carried out to automobile, high adhesion value road surface can obtain good vehicle running state.And urban traffic situation is modal vehicle operating environment, adhesion value is higher, side slip angle is less on vehicle yaw moment impact, the yaw velocity of automobile can well describe the cross motion of automobile, therefore carry out the design controlled as control variable, enable the yaw velocity of actual four-wheel driven electric vehicle follow the tracks of rapidly the yaw velocity of ideal model.
Therefore formulating speed of a motor vehicle maintenance Failure Control method is: according to current failure conditions, determine the target wheel that can be used for controlling, first lost efficacy the total drive torque of determination in moment, and redistribute on target wheel, obtain the drive torque of each target wheel, by increasing the drive torque of target wheel, to maintain original total propulsive effort.Front steering wheel angle δ and speed of a motor vehicle v
xcalculate current desirable yaw velocity γ
*, obtaining yaw velocity deviation delta gamma by subtracting each other with the current yaw velocity γ of four-wheel driven electric vehicle, by yaw velocity deviation delta gamma input fuzzy controller, obtaining additional yaw moment M; According to the size of additional yaw moment M value, calculate the size of the required additional drives moment of distributing of each target wheel drive motors, then with redistribute the drive torque obtained separately and be added command torque as finally exporting to each wheel electrical machine, export corresponding propulsive effort, to realize ideal, yaw velocity is followed the tracks of.
3, ramp to stop type Failure Control strategy
Reduction of speed parking type lost efficacy and belonged to more serious fault, and now the speed of a motor vehicle can not maintain, and is therefore control objectives with emergency.
For avoiding in docking process, there is larger state variation in vehicle body, causes vehicle body unstability or chaufeur fear, and ramp to stop type Failure Control strategy keeps with track and stops as control objectives rapidly.Make the driving trace of vehicle as far as possible consistent with the track of vehicle under non-failure conditions, track of vehicle so not only can be avoided sharply to change the potential safety hazard caused, and the driving meeting chaufeur is expected.
When straight-line travelling operating mode and steering wheel angle are zero, owing to can only control the propulsive effort of one-sided normal work drive motor under ramp to stop type failure conditions, add propulsive effort or braking force all can cause vehicle body to be subject to force unbalance, cause vehicle off-straight course.Therefore, take simple control policy, all wheels are set to flower wheel, four wheel motor torque are all set to zero.
Under Turning travel operating mode, under ramp to stop type failure conditions, total propulsive effort loss is comparatively large, causes speed of a motor vehicle bust and causes Turning radius sharply to diminish, and vehicle body left and right sides also causes the deflection of travel direction by force unbalance simultaneously.In this case, if just adopt simple control policy can cause the normal driving trace of driving trace substantial deviation, and slowing effect not good (not considering mechanical brake).
Right two-wheeled master mode: under left-hand rotation operating mode, left two-wheeled motor failure can cause serious oversteer.By the method for applying braking force to right two-wheeled, effectively can reduce yaw moment, correct ovdersteering trend.Suddenly change for avoiding propulsive effort and cause adverse effect to vehicle body stability, increase braking force moment after reducing to zero, until right two-wheeled motor braking force square maxim, then remain unchanged.In right-hand rotation operating mode left two-wheeled motor failure situation, reduce the drive torque of right two-wheeled with certain slope, until be reduced to zero, then remain unchanged.
Left two-wheeled master mode: can oversteer be caused at left-hand rotation operating mode bottom right two-wheeled motor failure.By the method for applying propulsive effort to left two-wheeled, can yaw moment be reduced, correct ovdersteering trend.Suddenly change for avoiding propulsive effort and cause adverse effect to vehicle body stability, adopt the drive torque reducing left two-wheeled with certain slope, until reduce to zero, then remain unchanged; In right-hand rotation operating mode right two-wheeled motor failure situation, reduce the drive torque of left two-wheeled with certain slope, increase braking force moment after reducing to zero, until left two-wheeled motor braking force square maxim, then remain unchanged.
Off hind wheel master mode: before under left-hand rotation operating mode, two-wheeled and left rear wheel motor failure can cause significant excess to turn to.By applying the method for braking force to off hind wheel, can yaw moment be reduced, correct ovdersteering trend.Suddenly change for avoiding propulsive effort and cause adverse effect to vehicle body stability, reduce off hind wheel drive torque with certain slope, increase braking force moment after reducing to zero, until left two-wheeled motor braking force square maxim, then remain unchanged; Before right-hand rotation operating mode in two-wheeled and left rear wheel motor failure situation, reduce off hind wheel drive torque with certain slope, until be reduced to zero, then remain unchanged.
Left rear wheel master mode: before under left-hand rotation operating mode, two-wheeled and off hind wheel motor failure can cause oversteer.By applying the method for propulsive effort to left rear wheel, can yaw moment be reduced, correct ovdersteering trend.Suddenly change for avoiding propulsive effort and cause adverse effect to vehicle body stability, reduce left rear wheel drive torque with certain slope, until reduce to zero, then remain unchanged; Before right-hand rotation operating mode in two-wheeled and off hind wheel motor failure situation, reduce left rear wheel drive torque with certain slope, increase braking force moment after reducing to zero, until right two-wheeled motor braking force square maxim, then remain unchanged.
Off front wheel master mode: after under left-hand rotation operating mode, two-wheeled and the near front wheel motor failure can cause significant excess to turn to.By applying the method for braking force to off front wheel, can yaw moment be reduced, correct ovdersteering trend.Suddenly change for avoiding propulsive effort and cause adverse effect to vehicle body stability, to reduce off front wheel drive torque with certain slope, increase braking force moment after reducing to zero, until off front wheel motor braking force square maxim, then remain unchanged; Two-wheeled and the near front wheel motor failure after right-hand rotation operating mode, reduce off front wheel drive torque with certain slope, until reduce to zero, then remain unchanged.
The near front wheel master mode: after under left-hand rotation operating mode, two-wheeled and the near front wheel motor failure can cause oversteer.By applying the method for propulsive effort to the near front wheel, can yaw moment be reduced, correct ovdersteering trend.Suddenly change for avoiding propulsive effort and cause adverse effect to vehicle body stability, certain slope reduces the near front wheel drive torque, until reduce to zero, then remains unchanged; After right-hand rotation operating mode in two-wheeled and off front wheel motor failure situation, reduce the near front wheel drive torque with certain slope, increase braking force moment after reducing to zero, until the near front wheel motor braking force square maxim, then remain unchanged.
The present invention is directed to four-wheeled electric vehicle in operational process, occur the design carrying out Failure Control strategy that power drive system lost efficacy.Power drive system fault is classified, adopts different Failure Control strategies to control for different faults, thus ensure reliable and secure vehicle is operated of chaufeur.
In the present embodiment, as shown in Figure 1, first determine failure conditions according to the wheel hub motor information of feedback, then select Failure Control strategy and speed of a motor vehicle maintenance control policy or ramp to stop type control policy to control.
Speed of a motor vehicle maintenance Failure Control strategy adopts the heterarchical architecture based on direct yaw moment control; Upper strata is drive torque and yaw moment formulation layer.Wherein drive torque is generated strategy and is preserved each motor at the Driving Torque in moment that lost efficacy, and gathers acceleration pedal information, determines total drive torque, and redistributes on target wheel.The while that yaw moment being generated strategy, two degrees of freedom reference model is according to current steering wheel angle δ and speed of a motor vehicle v
xcalculate current desirable yaw velocity γ
*, obtaining yaw velocity deviation delta gamma by subtracting each other with the current yaw velocity γ of four-wheel driven electric vehicle, by yaw velocity deviation delta gamma input fuzzy controller, obtaining additional yaw moment M.
Lower floor is drive torque Distribution Layer.First determine according to current failure situation the target wheel needing to carry out propulsive effort distribution, the additional yaw moment calculated according to upper strata is according to the size of additional yaw moment M value, calculate the size of the required additional drives moment of distributing of each target wheel drive motors, then with redistribute the drive torque obtained separately and be added command torque as finally exporting to each wheel electrical machine, export corresponding propulsive effort, to realize ideal, yaw velocity is followed the tracks of.
Ramp to stop type Failure Control strategy is made up of two modules: simple control policy module and rule-based propulsive effort control policy module.
Gathering steering wheel angle is zero, then take simple control policy, all wheels are set to flower wheel, four wheel motor torque are all set to zero.Rule-based propulsive effort control module preserves each motor at the Driving Torque in moment that lost efficacy, and gather steering information, select to need control objectives wheel according to failure conditions, and the regular output command torque certain according to system, specifically be previously detailed description, do not repeat them here.
Fig. 2 is the maintenance of the speed of a motor vehicle shown in Fig. 1 Failure Control policy construction block diagram.
In the present embodiment, T in Fig. 2
i=1,2,3,4 is the driving torque given value of four wheel hub motors, δ, v
x, γ is the yaw velocity of steering wheel angle, the speed of a motor vehicle and current reality respectively, M is the additional yaw moment exported based on the yaw moment control device of fuzzy logic.This control policy is made up of two-layer, and it is drive torque and yaw moment formulation layer at the middle and upper levels, and lower floor is drive torque Distribution Layer.
Fig. 3 is the diagram of circuit of the maintenance of the speed of a motor vehicle shown in Fig. 1 Failure Control.
In this enforcement, shown in Fig. 3, pattern 1 represents front-wheel master mode, and pattern 2 represents trailing wheel master mode, and mode 3 represents the near front wheel off hind wheel master mode, and pattern 4 represents off front wheel left rear wheel master mode.
First carry out drive pattern judgement according to failure type, and then carry out the distribution of total drive torque, additional yaw moment at corresponding target wheel.During distribution, if the drive torque that target wheel distributes is greater than the maximum torque of motor, be then set as maximum torque.
Fig. 4 is the type of ramp to stop shown in Fig. 1 Failure Control diagram of circuit.
In the present embodiment, as shown in Figure 1, whether be zero judgement by steering wheel angle δ be simple control policy or rule-based propulsive effort control policy.Pattern 5 represents right two-wheeled master mode, and pattern 6 represents left two-wheeled master mode, and mode 7 represents off hind wheel master mode, and pattern 8 represents left rear wheel master mode, and pattern 9 represents off front wheel master mode, and pattern 10 represents the near front wheel master mode.
In rule-based propulsive effort control policy, first carry out drive pattern judgement according to failure type, and then carry out drive torque control at corresponding target wheel.
Example
For total mass 1296kg, around Z axis rotor inertia 1750kgm2, wheelbase 2.57m, barycenter is to the distance 1.25m of front axle, and barycenter is to the distance 1.32m of rear axle, track front 1.405m, track rear 1.399m, height of center of mass 0.45m, the four-wheel driven electric vehicle of radius of wheel 0.326m is verified.
Vehicle driving trace comparison diagram when Fig. 5 is the near front wheel motor failure, as can be seen from Figure 5, when simply controlling, four wheels all do not have propulsive effort, and the speed of a motor vehicle reduces rapidly, have obvious reduction when turn radius compared with normal travels; After adding Failure Control, the speed of a motor vehicle and turn radius are almost identical with when normally travelling.
Fig. 6 is lower four the wheel drive torque diagram of curves of Failure Control.As can be seen from Figure 6, the near front wheel motor failure during 17s, causes output drive strength square to reduce to 0.During 17.5s, Failure Control gets involved, in order to ensure the balance of left and right sides drive torque, off front wheel motor output drive strength square is also reduced to 0, total drive torque distributes in target wheel and left rear wheel and off hind wheel, therefore this two turbin generators output drive strength square becomes original twice, the drive torque of direct yaw moment control algorithm to this two wheel electrical machine adjusts simultaneously, and tends towards stability very soon.
Vehicle driving trace comparison diagram when Fig. 7 is left rear wheel off hind wheel motor failure.As can be seen from Figure 7, when simply controlling, four wheels all do not have propulsive effort, and the speed of a motor vehicle reduces rapidly, have obvious reduction when turn radius compared with normal travels; After adding Failure Control, the speed of a motor vehicle and turn radius are almost identical with when normally travelling.As can be seen from Figure 8, during 17s, left rear wheel off hind wheel motor failure, causes Driving Torque to reduce to 0.During 17.5s, Failure Control gets involved, total drive torque is distributed in target wheel and the near front wheel and off front wheel at target wheel, therefore this two wheel electrical machines output drive strength square becomes original twice, direct yaw moment control algorithm adjusts this two turbin generators output drive strength square simultaneously, and tends towards stability very soon.
Vehicle driving trace comparison diagram when Fig. 9 is two-wheeled motor failure after off front wheel.As can be seen from Figure 9, during simple control, four wheels all do not have propulsive effort, have obvious reduction when ratio of cornering radius normally travels; After adding Failure Control, turn radius is closer to normal driving trace, and the speed of a motor vehicle is fallen faster than during simple control.As can be seen from Figure 10 front two-wheeled off hind wheel motor failure during 17s, causes exporting driving torque and reduces to 0.During 17.5s, Failure Control gets involved, and the drive torque of off front wheel motor is pressed slope-2 and reduces, increase braking force moment, until the near front wheel motor braking force square maxim, then remain unchanged after reducing to zero.
Although be described the illustrative detailed description of the invention of the present invention above; so that those skilled in the art understand the present invention; but should be clear; the invention is not restricted to the scope of detailed description of the invention; to those skilled in the art; as long as various change to limit and in the spirit and scope of the present invention determined, these changes are apparent, and all innovation and creation utilizing the present invention to conceive are all at the row of protection in appended claim.
Claims (2)
1. a failure control method for electric drive system of four-wheel drive electric vehicle, is characterized in that, comprises the following steps:
(1), failure type judges and Failure Control policy selection
Wheel hub motor information according to feedback determines failure conditions:
1.1), single motor failure
When the near front wheel motor failure or off front wheel motor failure, after using, two turbin generators are as drive motor, thus are rear-guard pattern by 4 wheel driven patten transformation;
When left rear wheel motor failure or off hind wheel motor failure, use front two turbin generators as drive motor, thus be forerunner's pattern by 4 wheel driven patten transformation;
Forerunner's pattern or rear-guard pattern all adopt speed of a motor vehicle maintenance Failure Control strategy to control target wheel i.e. rear two-wheeled or front two-wheeled;
1.2), double-motor lost efficacy
In front two-wheeled motor failure situation, be converted to rear-guard pattern; In rear two-wheeled motor failure situation, vehicle can be converted to forerunner's pattern, all adopts speed of a motor vehicle maintenance Failure Control strategy to control target wheel i.e. rear two-wheeled or front two-wheeled;
In left side two turbin generators or right side two-wheeled motor failure situation, ramp to stop type Failure Control strategy is adopted to control;
In the near front wheel off hind wheel motor failure or off front wheel left rear wheel motor failure situation, speed of a motor vehicle maintenance Failure Control strategy is adopted to control target wheel and off front wheel left rear wheel or the near front wheel off hind wheel;
1.3), three motor failure
In three-wheel motor failure situation, ramp to stop type Failure Control strategy is adopted to control;
(2), speed of a motor vehicle maintenance Failure Control strategy
First the inefficacy moment determines total drive torque, and redistributes on target wheel, obtains the drive torque of each target wheel, by increasing the drive torque of target wheel, to maintain original total propulsive effort; Two degrees of freedom reference model is according to current steering wheel angle δ and speed of a motor vehicle v simultaneously
xcalculate current desirable yaw velocity γ
*, obtaining yaw velocity deviation delta gamma by subtracting each other with the yaw velocity γ of the current reality of four-wheel driven electric vehicle, by yaw velocity deviation delta gamma input fuzzy controller, obtaining additional yaw moment M; According to the size of additional yaw moment M value, calculate the size of the required additional drives moment of distributing of each target wheel drive motors, then with redistribute the drive torque obtained separately and be added command torque as finally exporting to each wheel electrical machine, export corresponding propulsive effort, to realize ideal, yaw velocity is followed the tracks of;
(3), ramp to stop type Failure Control strategy
Gather steering wheel angle, if zero, then take simple control policy, all wheels are set to flower wheel, four wheel motor torque are all set to zero; If non-vanishing, then take rule-based propulsive effort control policy, have for:
3.1), right two-wheeled master mode: in left-hand rotation operating mode left two-wheeled motor failure situation, reduce the drive torque of right two-wheeled with certain slope, increase braking force moment after reducing to zero, until right two-wheeled motor braking force square maxim, then remain unchanged; In right-hand rotation operating mode left two-wheeled motor failure situation, reduce the drive torque of right two-wheeled with certain slope, until be reduced to zero, then remain unchanged;
3.2), left two-wheeled master mode: in left-hand rotation operating mode right two-wheeled motor failure situation, reduce the drive torque of left two-wheeled with certain slope, until be reduced to zero, then remain unchanged; In right-hand rotation operating mode right two-wheeled motor failure situation, reduce the drive torque of left two-wheeled with certain slope, increase braking force moment after reducing to zero, until left two-wheeled motor braking force square maxim, then remain unchanged;
3.3), off hind wheel master mode: before left-hand rotation operating mode in two-wheeled and left rear wheel motor failure situation, off hind wheel drive torque is reduced with certain slope, increase braking force moment after reducing to zero, until left two-wheeled motor braking force square maxim, then remain unchanged; Before right-hand rotation operating mode in two-wheeled and left rear wheel motor failure situation, reduce off hind wheel drive torque with certain slope, until be reduced to zero, then remain unchanged;
3.4), left rear wheel master mode: before left-hand rotation operating mode in two-wheeled and off hind wheel motor failure situation, reduce left rear wheel drive torque with certain slope, until reduce to zero, then remain unchanged; Before right-hand rotation operating mode in two-wheeled and off hind wheel motor failure situation, reduce left rear wheel drive torque with certain slope, increase braking force moment after reducing to zero, until right two-wheeled motor braking force square maxim, then remain unchanged;
3.5), off front wheel master mode: after left-hand rotation operating mode in two-wheeled and the near front wheel motor failure situation, off front wheel drive torque is reduced with certain slope, increase braking force moment after reducing to zero, until off front wheel motor braking force square maxim, then remain unchanged; Two-wheeled and the near front wheel motor failure after right-hand rotation operating mode, reduce off front wheel drive torque with certain slope, until reduce to zero, then remain unchanged;
3.6), the near front wheel master mode: after left-hand rotation operating mode in two-wheeled and off front wheel motor failure situation, reduce the near front wheel drive torque with certain slope, reduce the near front wheel drive torque with certain slope, until reduce to zero, then remain unchanged; After right-hand rotation operating mode in two-wheeled and off front wheel motor failure situation, reduce the near front wheel drive torque with certain slope, increase braking force moment after reducing to zero, until the near front wheel motor braking force square maxim, then remain unchanged.
2. failure control method for electric drive system of four-wheel drive electric vehicle according to claim 1, is characterized in that, described speed of a motor vehicle maintenance Failure Control strategy adopts the heterarchical architecture based on direct yaw moment control;
Upper strata is drive torque and yaw moment formulation layer; Wherein drive torque is generated strategy and is preserved each motor at the Driving Torque in moment that lost efficacy, and gathers acceleration pedal information, determines total drive torque, and redistributes on target wheel; The while that yaw moment being generated strategy, two degrees of freedom reference model is according to current steering wheel angle δ and speed of a motor vehicle v
xcalculate current desirable yaw velocity γ
*, obtaining yaw velocity deviation delta gamma by subtracting each other with the current yaw velocity γ of four-wheel driven electric vehicle, by yaw velocity deviation delta gamma input fuzzy controller, obtaining additional yaw moment M;
Lower floor is drive torque Distribution Layer, first determine according to current failure situation the target wheel needing to carry out propulsive effort distribution, the additional yaw moment calculated according to upper strata is according to the size of additional yaw moment M value, calculate the size of the required additional drives moment of distributing of each target wheel drive motors, then with redistribute the drive torque obtained separately and be added command torque as finally exporting to each wheel electrical machine, export corresponding propulsive effort, to realize ideal, yaw velocity is followed the tracks of.
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